/**
  ******************************************************************************
  * File Name          : main.c
  * Description        : Main program body
  ******************************************************************************
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

#include "DY_HAL.h"
#include "stdio.h"

DY_HAL hal;
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
/* Private variables ---------------------------------------------------------*/

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
//void SystemClock_Config(void);
//void Error_Handler(void);
//static void MX_GPIO_Init(void);

/* USER CODE BEGIN PFP */
/* Private function prototypes -----------------------------------------------*/

/* USER CODE END PFP */

/* USER CODE BEGIN 0 */

/* USER CODE END 0 */
uint32_t last_time = 0;
int main(void)
{

  /* USER CODE BEGIN 1 */
	HAL_constructs(&hal);
	hal.init();
  /* USER CODE END 1 */
	last_time = hal.system.millis();
  /* MCU Configuration----------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
//  HAL_Init();

  /* Configure the system clock */
//  SystemClock_Config();

  /* Initialize all configured peripherals */
//  MX_GPIO_Init();

  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
	 uint8_t rc_updated = 0;
	 uint16_t raw_rc_values[18];
	 uint16_t raw_rc_values_last[18];
	 uint16_t raw_rc_count;
	 bool sbus_failsafe;
	 bool sbus_frame_drop;
  while (1){

	  while(hal.system.millis()-last_time<10){

	  }
	  rc_updated = sbus_input(0, raw_rc_values, &raw_rc_count, &sbus_failsafe, &sbus_frame_drop, 18);
	  last_time = hal.system.millis();
//	  hal.UARTDriver.write_byte(1,'\n');
	  if((raw_rc_values_last[0] != raw_rc_values[0])||(raw_rc_values_last[1] != raw_rc_values[1])||
			  (raw_rc_values_last[2] != raw_rc_values[2])||(raw_rc_values_last[3] != raw_rc_values[3])||
			  (raw_rc_values_last[4] != raw_rc_values[4])||(raw_rc_values_last[5] != raw_rc_values[5])||
			  (raw_rc_values_last[6] != raw_rc_values[6])||(raw_rc_values_last[7] != raw_rc_values[7])){
		  hal.UARTDriver.write_byte(1,0x55);
	  	  hal.UARTDriver.write_byte(1,0xaa);

	  	  uint8_t h_value=raw_rc_values[0]>>8;
	  	  uint8_t l_value=raw_rc_values[0];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[1]>>8;
	  	  l_value=raw_rc_values[1];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[2]>>8;
	  	  l_value=raw_rc_values[2];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[3]>>8;
	  	  l_value=raw_rc_values[3];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[4]>>8;
	  	  l_value=raw_rc_values[4];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[5]>>8;
	  	  l_value=raw_rc_values[5];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[6]>>8;
	  	  l_value=raw_rc_values[6];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  h_value=raw_rc_values[7]>>8;
	  	  l_value=raw_rc_values[7];
	  	  hal.UARTDriver.write_byte(1,h_value);
	  	  hal.UARTDriver.write_byte(1,l_value);

	  	  for(uint8_t i=0;i<18;i++){
	  		  raw_rc_values_last[i] = raw_rc_values[i];
	  	  }
	  }
//	  hal.UARTDriver.write_byte(1,'\n');
  }
  /* USER CODE END 3 */

}

/** System Clock Configuration
*/
//void SystemClock_Config(void)
//{
//
//  RCC_OscInitTypeDef RCC_OscInitStruct;
//  RCC_ClkInitTypeDef RCC_ClkInitStruct;
//
//    /**Initializes the CPU, AHB and APB busses clocks
//    */
//  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
//  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
//  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
//  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
//  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
//  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
//  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
//  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
//  {
//    Error_Handler();
//  }
//
//    /**Initializes the CPU, AHB and APB busses clocks
//    */
//  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
//                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
//  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
//  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
//  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
//  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
//
//  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
//  {
//    Error_Handler();
//  }
//
//    /**Configure the Systick interrupt time
//    */
//  HAL_SYSTICK_Config(HAL_RCC_GetHCLKFreq()/1000);
//
//    /**Configure the Systick
//    */
//  HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
//
//  /* SysTick_IRQn interrupt configuration */
//  HAL_NVIC_SetPriority(SysTick_IRQn, 0, 0);
//}

/** Configure pins as 
        * Analog 
        * Input 
        * Output
        * EVENT_OUT
        * EXTI
*/
//static void MX_GPIO_Init(void)
//{
//
//  GPIO_InitTypeDef GPIO_InitStruct;
//
//  /* GPIO Ports Clock Enable */
//  __HAL_RCC_GPIOC_CLK_ENABLE();
//  __HAL_RCC_GPIOD_CLK_ENABLE();
//
//  /*Configure GPIO pin Output Level */
//  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
//
//  /*Configure GPIO pin : PC13 */
//  GPIO_InitStruct.Pin = GPIO_PIN_13;
//  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
//  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
//  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
//
//}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @param  None
  * @retval None
  */
//void Error_Handler(void)
//{
//  /* USER CODE BEGIN Error_Handler */
//  /* User can add his own implementation to report the HAL error return state */
//  while(1)
//  {
//  }
//  /* USER CODE END Error_Handler */
//}
//
//#ifdef USE_FULL_ASSERT

/**
   * @brief Reports the name of the source file and the source line number
   * where the assert_param error has occurred.
   * @param file: pointer to the source file name
   * @param line: assert_param error line source number
   * @retval None
   */
//void assert_failed(uint8_t* file, uint32_t line)
//{
//  /* USER CODE BEGIN 6 */
//  /* User can add his own implementation to report the file name and line number,
//    ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
//  /* USER CODE END 6 */
//
//}
//
//#endif

/**
  * @}
  */ 

/**
  * @}
*/ 

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
